基于高斯伪谱法的翼伞系统复杂多约束轨迹规划

doi:10.7527/S1000-6893.2016.0254

Abstract

Abstract:

The parafoil system is commonly affected by complex interferences, such as wind field and terrain environment, leading to imprecise homing and increasing control difficulty. A trajectory optimization of the parafoil system subjected to intricate constraints is proposed to realize accurate landing, flare landing against the wind, and global optimal control. A model for the parafoil system in the wind field is built. To transform the problem of trajectory optimization of the parafoil system in complex environment to the problem of optimal control with a set of nonlinear and intricate constraints, the complex terrain environment is converted into real-time path constraint by introducing into terminal constraints the terrain environment surface, the landing deviation and flare landing, and the objective function with minimum control consumption is defined. Gauss pseudo-spectral method is applied to transform the problem of optimal control with intricate constraints to the problem of easily solvable non-linear programming. Numerical simulation and experimental results show that the proposed method can efficiently plan out an optimal trajectory with high precision to meet the constraints in a variety of complex environments. A comparison with the existing method of chaotic particle swarm optimization demonstrates the outstanding performance of the proposed method.

Key words: parafoil system, intricate constraints, Gauss pseudo-spectral method, optimal control, trajectory planning

CLC Number:

V448.231

LUO Shuzhen, SUN Qinglin, TAN Panlong, TAO Jin, HE Yingping, LUO Haowen. Trajectory planning of parafoil system with intricate constraints based on Gauss pseudo-spectral method[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2017, 38(3): 320363-320363.

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Trajectory planning of parafoil system with intricate constraints based on Gauss pseudo-spectral method

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